moar

.gitignore

@@ -11,3 +11,4 @@
 .log
 .purs-repl
 .env
+.spec-results

package.json

@@ -9,11 +9,16 @@
   },
   "devDependencies": {
     "bun-types": "1.0.11",
+    "mujoco_wasm": "^3.2.2",
     "purs-tidy": "^0.10.0",
     "spago": "^1.0.0"
   },
   "peerDependencies": {
     "typescript": "^5.0.0"
   },
-  "dependencies": {}
+  "dependencies": {
+    "react": "17",
+    "react-dom": "17",
+    "server": "react-dom/server"
+  }
 }

spago.lock

@@ -9,6 +9,7 @@
             "elmish",
             "elmish-html",
             "integers",
+            "maybe",
             "numbers",
             "prelude",
             "tuples",
@@ -18,6 +19,8 @@
         },
         "test": {
           "dependencies": [
+            "aff-promise",
+            "assert",
             "spec",
             "spec-node"
           ]
@@ -640,6 +643,21 @@
         "unsafe-coerce"
       ]
     },
+    "aff-promise": {
+      "type": "registry",
+      "version": "4.0.0",
+      "integrity": "sha256-Jgp3y+NWuuAmwz2V3LlWoX+AvxqfVglY77N5zTw8xnI=",
+      "dependencies": [
+        "aff",
+        "control",
+        "effect",
+        "either",
+        "exceptions",
+        "foreign",
+        "prelude",
+        "transformers"
+      ]
+    },
     "ansi": {
       "type": "registry",
       "version": "7.0.0",
@@ -718,6 +736,16 @@
         "unsafe-coerce"
       ]
     },
+    "assert": {
+      "type": "registry",
+      "version": "6.0.0",
+      "integrity": "sha256-hCZ1J8/71nQiRwsSV2j7iicppScOegBFZrLI6sPf9F8=",
+      "dependencies": [
+        "console",
+        "effect",
+        "prelude"
+      ]
+    },
     "avar": {
       "type": "registry",
       "version": "5.0.1",

spago.yaml

@@ -15,6 +15,8 @@ package:
   test:
     main: Test.Main
     dependencies:
+      - aff-promise
+      - assert
       - spec
       - spec-node
   dependencies:
@@ -22,6 +24,7 @@ package:
     - elmish
     - elmish-html
     - integers
+    - maybe
     - numbers
     - prelude
     - tuples

src/Mujoco.MJCF.Asset.purs

@@ -0,0 +1,152 @@
+module Mujoco.MJCF.Asset where
+
+import Mujoco.Prelude
+
+asset = tag @() "asset" :: Tag ()
+
+data MeshInertia = Convex | Exact | Legacy | Shell
+instance Serialize MeshInertia where
+  serialize Convex = "convex"
+  serialize Exact = "exact"
+  serialize Legacy = "legacy"
+  serialize Shell = "shell"
+
+type Props_mesh =
+  ( name :: String
+  , class :: String
+  , content_type :: String
+  , file :: String
+  , scale :: Vec Real
+  , inertia :: MeshInertia
+  , smoothnormal :: Boolean
+  , maxhullvert :: Int
+  , vertex :: Array Real
+  , normal :: Array Real
+  , texcoord :: Array Real
+  , face :: Array Int
+  , refpos :: Vec Real
+  , refquat :: Vec4 Real
+  , builtin :: String
+  , params :: Array Real
+  , material :: String
+  )
+mesh = tag @Props_mesh "mesh" :: Tag Props_mesh
+
+type Props_hfield =
+  ( name :: String
+  , content_type :: String
+  , file :: String
+  , nrow :: Int
+  , ncol :: Int
+  , elevation :: Array Real
+  , size :: Vec4 Real
+  )
+hfield = tagNoContent @Props_hfield "hfield" :: TagNoContent Props_hfield
+
+data TextureType = Texture2d | TextureCube | TextureSkybox
+instance Serialize TextureType where
+  serialize Texture2d = "2d"
+  serialize TextureCube = "cube"
+  serialize TextureSkybox = "skybox"
+
+data TextureColorspace = ColorspaceAuto | ColorspaceLinear | ColorspaceSRGB
+instance Serialize TextureColorspace where
+  serialize ColorspaceAuto = "auto"
+  serialize ColorspaceLinear = "linear"
+  serialize ColorspaceSRGB = "sRGB"
+
+data TextureBuiltin = BuiltinNone | BuiltinGradient | BuiltinChecker | BuiltinFlat
+instance Serialize TextureBuiltin where
+  serialize BuiltinNone = "none"
+  serialize BuiltinGradient = "gradient"
+  serialize BuiltinChecker = "checker"
+  serialize BuiltinFlat = "flat"
+
+data TextureMark = MarkNone | MarkEdge | MarkCross | MarkRandom
+instance Serialize TextureMark where
+  serialize MarkNone = "none"
+  serialize MarkEdge = "edge"
+  serialize MarkCross = "cross"
+  serialize MarkRandom = "random"
+
+type Props_texture =
+  ( name :: String
+  , type :: TextureType
+  , colorspace :: TextureColorspace
+  , content_type :: String
+  , file :: String
+  , gridsize :: Int /\ Int
+  , gridlayout :: String
+  , fileright :: String
+  , fileleft :: String
+  , fileup :: String
+  , filedown :: String
+  , filefront :: String
+  , fileback :: String
+  , builtin :: TextureBuiltin
+  , rgb1 :: Vec Real
+  , rgb2 :: Vec Real
+  , mark :: TextureMark
+  , markrgb :: Vec Real
+  , random :: Real
+  , width :: Int
+  , height :: Int
+  , hflip :: Boolean
+  , vflip :: Boolean
+  , nchannel :: Int
+  )
+texture = tagNoContent @Props_texture "texture" :: TagNoContent Props_texture
+
+type Props_material =
+  ( name :: String
+  , class :: String
+  , texture :: String
+  , texrepeat :: Real /\ Real
+  , texuniform :: Boolean
+  , emission :: Real
+  , specular :: Real
+  , shininess :: Real
+  , reflectance :: Real
+  , metallic :: Real
+  , roughness :: Real
+  , rgba :: Vec4 Real
+  )
+material = tag @Props_material "material" :: Tag Props_material
+
+data LayerRole
+  = RoleRgb
+  | RoleNormal
+  | RoleOcclusion
+  | RoleRoughness
+  | RoleMetallic
+  | RoleOpacity
+  | RoleEmissive
+  | RoleOrm
+  | RoleRgba
+
+instance Serialize LayerRole where
+  serialize RoleRgb = "rgb"
+  serialize RoleNormal = "normal"
+  serialize RoleOcclusion = "occlusion"
+  serialize RoleRoughness = "roughness"
+  serialize RoleMetallic = "metallic"
+  serialize RoleOpacity = "opacity"
+  serialize RoleEmissive = "emissive"
+  serialize RoleOrm = "orm"
+  serialize RoleRgba = "rgba"
+
+type Props_layer =
+  ( texture :: String
+  , role :: LayerRole
+  )
+layer = tagNoContent @Props_layer "layer" :: TagNoContent Props_layer
+
+type Props_model =
+  ( name :: String
+  , file :: String
+  , content_type :: String
+  )
+model = tagNoContent @Props_model "model" :: TagNoContent Props_model
+
+type Props_plugin = (plugin :: String, instance :: String)
+plugin = tag @Props_plugin "plugin" :: Tag Props_plugin

src/Mujoco.MJCF.Body.purs

@@ -0,0 +1,248 @@
+module Mujoco.MJCF.Body where
+
+import Mujoco.Prelude
+
+data SleepPolicy = SleepAuto | SleepNever | SleepAllowed | SleepInit
+instance Serialize SleepPolicy where
+  serialize SleepAuto = "auto"
+  serialize SleepNever = "never"
+  serialize SleepAllowed = "allowed"
+  serialize SleepInit = "init"
+
+type Props_body =
+  ( name :: String
+  , childclass :: String
+  , mocap :: Boolean
+  , pos :: Vec Real
+  , quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  , gravcomp :: Real
+  , sleep :: SleepPolicy
+  , user :: Array Real
+  )
+body = tag @Props_body "body" :: Tag Props_body
+worldbody = tag @Props_body "worldbody" :: Tag Props_body
+
+type Props_inertial =
+  ( pos :: Vec Real
+  , quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  , mass :: Real
+  , diaginertia :: Vec Real
+  , fullinertia :: Array Real
+  )
+inertial = tagNoContent @Props_inertial "inertial" :: TagNoContent Props_inertial
+
+data JointType = Free | Ball | Slide | Hinge
+instance Serialize JointType where
+  serialize Free = "free"
+  serialize Ball = "ball"
+  serialize Slide = "slide"
+  serialize Hinge = "hinge"
+
+data AutoBool = AutoBoolFalse | AutoBoolTrue | AutoBoolAuto
+instance Serialize AutoBool where
+  serialize AutoBoolFalse = "false"
+  serialize AutoBoolTrue = "true"
+  serialize AutoBoolAuto = "auto"
+
+type Props_joint =
+  ( name :: String
+  , class :: String
+  , type :: JointType
+  , group :: Int
+  , pos :: Vec Real
+  , axis :: Vec Real
+  , springdamper :: Real /\ Real
+  , solreflimit :: Real /\ Real
+  , solimplimit :: Vec5 Real
+  , solreffriction :: Real /\ Real
+  , solimpfriction :: Vec5 Real
+  , stiffness :: Real
+  , range :: Real /\ Real
+  , limited :: AutoBool
+  , actuatorfrcrange :: Real /\ Real
+  , actuatorfrclimited :: AutoBool
+  , actuatorgravcomp :: Boolean
+  , margin :: Real
+  , ref :: Real
+  , springref :: Real
+  , armature :: Real
+  , damping :: Real
+  , frictionloss :: Real
+  , user :: Array Real
+  )
+joint = tagNoContent @Props_joint "joint" :: TagNoContent Props_joint
+
+type Props_freejoint =
+  ( name :: String
+  , group :: Int
+  , align :: AutoBool
+  )
+freejoint = tagNoContent @Props_freejoint "freejoint" :: TagNoContent Props_freejoint
+
+data GeomType = GPlane | GHfield | GSphere | GCapsule | GEllipsoid | GCylinder | GBox | GMesh | GSdf
+instance Serialize GeomType where
+  serialize GPlane = "plane"
+  serialize GHfield = "hfield"
+  serialize GSphere = "sphere"
+  serialize GCapsule = "capsule"
+  serialize GEllipsoid = "ellipsoid"
+  serialize GCylinder = "cylinder"
+  serialize GBox = "box"
+  serialize GMesh = "mesh"
+  serialize GSdf = "sdf"
+
+data FluidShape = FluidNone | FluidEllipsoid
+instance Serialize FluidShape where
+  serialize FluidNone = "none"
+  serialize FluidEllipsoid = "ellipsoid"
+
+type Props_geom =
+  ( name :: String
+  , class :: String
+  , type :: GeomType
+  , contype :: Int
+  , conaffinity :: Int
+  , condim :: Int
+  , group :: Int
+  , priority :: Int
+  , size :: Vec Real
+  , material :: String
+  , rgba :: Vec4 Real
+  , friction :: Vec Real
+  , mass :: Real
+  , density :: Real
+  , shellinertia :: Boolean
+  , solmix :: Real
+  , solref :: Real /\ Real
+  , solimp :: Vec5 Real
+  , margin :: Real
+  , gap :: Real
+  , fromto :: Array Real
+  , pos :: Vec Real
+  , quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  , hfield :: String
+  , mesh :: String
+  , fitscale :: Real
+  , fluidshape :: FluidShape
+  , fluidcoef :: Vec5 Real
+  , user :: Array Real
+  )
+geom = tag @Props_geom "geom" :: Tag Props_geom
+
+data SiteType = SiteSphere | SiteCapsule | SiteEllipsoid | SiteCylinder | SiteBox
+instance Serialize SiteType where
+  serialize SiteSphere = "sphere"
+  serialize SiteCapsule = "capsule"
+  serialize SiteEllipsoid = "ellipsoid"
+  serialize SiteCylinder = "cylinder"
+  serialize SiteBox = "box"
+
+type Props_site =
+  ( name :: String
+  , class :: String
+  , type :: SiteType
+  , group :: Int
+  , material :: String
+  , rgba :: Vec4 Real
+  , size :: Vec Real
+  , fromto :: Array Real
+  , pos :: Vec Real
+  , quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  , user :: Array Real
+  )
+site = tagNoContent @Props_site "site" :: TagNoContent Props_site
+
+data CameraMode = CamFixed | CamTrack | CamTrackcom | CamTargetbody | CamTargetbodycom
+instance Serialize CameraMode where
+  serialize CamFixed = "fixed"
+  serialize CamTrack = "track"
+  serialize CamTrackcom = "trackcom"
+  serialize CamTargetbody = "targetbody"
+  serialize CamTargetbodycom = "targetbodycom"
+
+data Projection = Perspective | Orthographic
+instance Serialize Projection where
+  serialize Perspective = "perspective"
+  serialize Orthographic = "orthographic"
+
+data CameraOutput = OutputRgb | OutputDepth | OutputDistance | OutputNormal | OutputSegmentation
+instance Serialize CameraOutput where
+  serialize OutputRgb = "rgb"
+  serialize OutputDepth = "depth"
+  serialize OutputDistance = "distance"
+  serialize OutputNormal = "normal"
+  serialize OutputSegmentation = "segmentation"
+
+type Props_camera =
+  ( name :: String
+  , class :: String
+  , mode :: CameraMode
+  , target :: String
+  , projection :: Projection
+  , fovy :: Real
+  , resolution :: Int /\ Int
+  , output :: CameraOutput
+  , sensorsize :: Real /\ Real
+  , focal :: Real /\ Real
+  , focalpixel :: Real /\ Real
+  , principal :: Real /\ Real
+  , principalpixel :: Real /\ Real
+  , ipd :: Real
+  , pos :: Vec Real
+  , quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  , user :: Array Real
+  )
+camera = tagNoContent @Props_camera "camera" :: TagNoContent Props_camera
+
+data LightType = LightSpot | LightDirectional | LightPoint | LightImage
+instance Serialize LightType where
+  serialize LightSpot = "spot"
+  serialize LightDirectional = "directional"
+  serialize LightPoint = "point"
+  serialize LightImage = "image"
+
+type Props_light =
+  ( name :: String
+  , class :: String
+  , mode :: CameraMode
+  , target :: String
+  , type :: LightType
+  , directional :: Boolean
+  , castshadow :: Boolean
+  , active :: Boolean
+  , pos :: Vec Real
+  , dir :: Vec Real
+  , diffuse :: Vec Real
+  , texture :: String
+  , intensity :: Real
+  , ambient :: Vec Real
+  , specular :: Vec Real
+  , range :: Real
+  , bulbradius :: Real
+  , attenuation :: Vec Real
+  , cutoff :: Real
+  , exponent :: Real
+  )
+light = tagNoContent @Props_light "light" :: TagNoContent Props_light
+
+-- TODO: body/composite reuses row types of joint, geom, site, skin, plugin

src/Mujoco.MJCF.Meta.purs

@@ -0,0 +1,13 @@
+module Mujoco.MJCF.Meta where
+
+import Mujoco.Prelude
+
+type Props_frame :: Row Type
+type Props_frame = ()
+frame = tag @Props_frame "frame" :: Tag Props_frame
+
+type Props_replicate = (count :: Int, sep :: String, offset :: Vec Number, euler :: Vec Number)
+replicate = tag @Props_replicate "replicate" :: Tag Props_replicate
+
+type Props_include = (file :: String)
+include = tag @Props_include "include" :: Tag Props_include

src/Mujoco.MJCF.purs

@@ -0,0 +1,185 @@
+module Mujoco.MJCF
+  ( Angle(..)
+  , Cone(..)
+  , Coordinate(..)
+  , Enable(..)
+  , InertiaFromGeom(..)
+  , Integrator(..)
+  , Jacobian(..)
+  , Props_compiler
+  , Props_flag
+  , Props_option
+  , Props_size
+  , Props_mujoco
+  , Props_statistic
+  , Solver(..)
+  , compiler
+  , flag
+  , mujoco
+  , option
+  , size
+  , statistic
+  , module X
+  )
+  where
+
+import Mujoco.Prelude
+import Mujoco.MJCF.Asset as X
+import Mujoco.MJCF.Body as X
+import Mujoco.XML.Node (empty, text, fragment) as X
+
+type Props_mujoco = (model :: String)
+mujoco = tag @Props_mujoco "mujoco" :: Tag Props_mujoco
+
+data Integrator = Euler | RK4 | Implicit | ImplicitFast
+instance Serialize Integrator where
+  serialize Euler = "Euler"
+  serialize RK4 = "RK4"
+  serialize Implicit = "implicit"
+  serialize ImplicitFast = "implicitfast"
+
+data Cone = Pyramidal | Elliptic
+instance Serialize Cone where
+  serialize Pyramidal = "pyramidal"
+  serialize Elliptic = "elliptic"
+
+data Jacobian = Dense | Sparse
+instance Serialize Jacobian where
+  serialize Dense = "dense"
+  serialize Sparse = "sparse"
+
+data Solver = PGS | CG | Newton
+instance Serialize Solver where
+  serialize PGS = "PGS"
+  serialize CG = "CG"
+  serialize Newton = "Newton"
+
+data Enable = Disable | Enable
+instance Serialize Enable where
+  serialize Enable = "Enable"
+  serialize Disable = "Disable"
+
+data Coordinate = Local | Global
+instance Serialize Coordinate where
+  serialize Local = "local"
+  serialize Global = "global"
+
+data Angle = Radian | Degree
+instance Serialize Angle where
+  serialize Radian = "radian"
+  serialize Degree = "degree"
+
+data InertiaFromGeom = InertiaFromGeomFalse | InertiaFromGeomTrue | InertiaFromGeomAuto
+instance Serialize InertiaFromGeom where
+  serialize InertiaFromGeomFalse = "false"
+  serialize InertiaFromGeomTrue = "true"
+  serialize InertiaFromGeomAuto = "auto"
+
+type Props_option =
+  ( timestep :: Real
+  , impratio :: Real
+  , gravity :: Vec Real
+  , wind :: Vec Real
+  , magnetic :: Vec Real
+  , density :: Real
+  , viscosity :: Real
+  , o_margin :: Real
+  , o_solref :: Real /\ Real
+  , o_solimp :: Vec5 Real
+  , integrator :: Integrator
+  , cone :: Cone
+  , jacobian :: Jacobian
+  , iterations :: Int
+  , tolerance :: Real
+  , ls_iterations :: Int
+  , ls_tolerance :: Real
+  , noslip_tolerance :: Real
+  , ccd_iterations :: Int
+  , ccd_tolerance :: Real
+  , sleep_tolerance :: Real
+  , sdf_iterations :: Int
+  , sdf_initpoints :: Int
+  , actuatorgroupdisable :: Array Int
+  )
+option = tag @Props_option "option" :: Tag Props_option
+
+type Props_flag =
+  ( constraint :: Enable
+  , equality :: Enable
+  , frictionloss :: Enable
+  , limit :: Enable
+  , contact :: Enable
+  , spring :: Enable
+  , damper :: Enable
+  , gravity :: Enable
+  , clampctrl :: Enable
+  , warmstart :: Enable
+  , filterparent :: Enable
+  , actuation :: Enable
+  , refsafe :: Enable
+  , sensor :: Enable
+  , midphase :: Enable
+  , nativeccd :: Enable
+  , island :: Enable
+  , eulerdamp :: Enable
+  , autoreset :: Enable
+  , override :: Enable
+  , energy :: Enable
+  , fwdinv :: Enable
+  , invdiscrete :: Enable
+  , multiccd :: Enable
+  , sleep :: Enable
+  )
+flag = tag @Props_flag "flag" :: Tag Props_flag
+
+type Props_compiler =
+  ( autolimits :: Boolean
+  , boundmass :: Real
+  , boundinertia :: Real
+  , settotalmass :: Real
+  , balanceinertia :: Boolean
+  , strippath :: Boolean
+  , coordinate :: Coordinate
+  , angle :: Angle
+  , fitaabb :: Boolean
+  , eulerseq :: String
+  , meshdir :: String
+  , texturedir :: String
+  , assetdir :: String
+  , discardvisual :: Boolean
+  , usethread :: Boolean
+  , fusestatic :: Boolean
+  , inertiafromgeom :: InertiaFromGeom
+  , alignfree :: Boolean
+  , inertiagrouprange :: Int /\ Int
+  , saveinertial :: Boolean
+  )
+compiler = tagNoContent @Props_compiler "compiler" :: TagNoContent Props_compiler
+
+type Props_size =
+  ( memory :: String
+  , njmax :: Int
+  , nconmax :: Int
+  , nstack :: Int
+  , nuserdata :: Int
+  , nkey :: Int
+  , nuser_body :: Int
+  , nuser_jnt :: Int
+  , nuser_geom :: Int
+  , nuser_site :: Int
+  , nuser_cam :: Int
+  , nuser_tendon :: Int
+  , nuser_actuator :: Int
+  , nuser_sensor :: Int
+  )
+size = tagNoContent @Props_size "size" :: TagNoContent Props_size
+
+type Props_statistic =
+  ( meanmass :: Real
+  , meaninertia :: Real
+  , meansize :: Real
+  , extent :: Real
+  , center :: Vec Real
+  )
+statistic = tagNoContent @Props_statistic "statistic" :: TagNoContent Props_statistic
+

src/Mujoco.Prelude.purs

@@ -0,0 +1,21 @@
+module Mujoco.Prelude (module X, Real, Vec, Vec4, Vec5) where
+
+import Prelude (class Applicative, class Apply, class Bind, class BooleanAlgebra, class Bounded, class Category, class CommutativeRing, class Discard, class DivisionRing, class Eq, class EuclideanRing, class Field, class Functor, class HeytingAlgebra, class Monad, class Monoid, class Ord, class Ring, class Semigroup, class Semigroupoid, class Semiring, class Show, type (~>), Ordering(..), Unit, Void, absurd, add, ap, append, apply, between, bind, bottom, clamp, compare, comparing, compose, conj, const, degree, discard, disj, div, eq, flap, flip, gcd, identity, ifM, join, lcm, liftA1, liftM1, map, max, mempty, min, mod, mul, negate, not, notEq, one, otherwise, pure, recip, show, sub, top, unit, unless, unlessM, void, when, whenM, zero, (#), ($), ($>), (&&), (*), (*>), (+), (-), (/), (/=), (<), (<#>), (<$), (<$>), (<*), (<*>), (<<<), (<=), (<=<), (<>), (<@>), (=<<), (==), (>), (>=), (>=>), (>>=), (>>>), (||)) as X
+import Mujoco.XML.Node
+  ( tag
+  , tagNoContent
+  , Tag
+  , TagNoContent
+  ) as X
+
+import Mujoco.XML.Node.Prop (class Serialize, serialize) as X
+
+import Data.Tuple (Tuple(..)) as X
+import Data.Tuple.Nested (type (/\), (/\)) as X
+import Data.Tuple.Nested (type (/\))
+import Data.Maybe (Maybe(..), maybe, fromMaybe) as X
+
+type Real = Number
+type Vec a = a /\ a /\ a
+type Vec4 a = a /\ a /\ a /\ a
+type Vec5 a = a /\ a /\ a /\ a /\ a

src/Mujoco.XML.Node.js

@@ -0,0 +1,4 @@
+import ReactDOM from 'react-dom/server.js'
+
+/** @type {(node: import('react').ReactElement) => String} */
+export const renderToString = el => ReactDOM.renderToStaticMarkup(el)

src/Mujoco.XML.Node.purs

@@ -8,6 +8,8 @@ module Mujoco.XML.Node
   , fragment
   , empty
   , text
+  , Tag
+  , TagNoContent
   ) where
 
 import Prelude
@@ -21,6 +23,8 @@ import Prim.Row (class Union)
 import Prim.RowList (class RowToList)
 import Unsafe.Coerce (unsafeCoerce)
 
+foreign import renderToString :: ReactElement -> String
+
 type Tag props
    = forall r missing a propsrl
    . Children a
@@ -44,7 +48,7 @@ type TagNoContent props
 foreign import data Node :: Type
 
 render :: Node -> String
-render = React.renderToString <<< toReact
+render = renderToString <<< toReact
 
 fromReact :: ReactElement -> Node
 fromReact = unsafeCoerce

test/Main.purs

@@ -4,10 +4,12 @@ import Prelude
 
 import Effect (Effect)
 import Test.Mujoco.XML.Node.Prop as Test.Mujoco.XML.Node.Prop
+import Test.Mujoco.MJCF as Test.Mujoco.MJCF
 import Test.Spec.Reporter.Console (consoleReporter)
 import Test.Spec.Runner.Node (runSpecAndExitProcess)
 
 main :: Effect Unit
 main =
   runSpecAndExitProcess [consoleReporter] do
+    Test.Mujoco.MJCF.spec
     Test.Mujoco.XML.Node.Prop.spec

test/Mujoco.MJCF.purs

@@ -0,0 +1,26 @@
+module Test.Mujoco.MJCF where
+
+import Prelude
+
+import Control.Monad.Error.Class (try)
+import Data.Either (isLeft)
+import Effect.Aff (Aff)
+import Effect.Class (liftEffect)
+import Mujoco.MJCF as X
+import Mujoco.Wasm (renderSpec)
+import Mujoco.XML.Node (Node)
+import Test.Assert (assertTrue)
+import Test.Spec (Spec, describe, it)
+
+ok :: Node -> Aff Unit
+ok = void <<< renderSpec
+
+fail :: Node -> Aff Unit
+fail = (liftEffect <<< assertTrue <<< isLeft) <=< (try <<< renderSpec)
+
+spec :: Spec Unit
+spec =
+  describe "MJCF" do
+    it "</>" $ fail $ X.empty
+    it "<mujoco>" $ ok $ X.mujoco {} unit
+    it "<worldbody>" $ ok $ X.mujoco {} $ X.worldbody {} unit

test/Mujoco.Wasm.js

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+import load_mujoco from 'mujoco_wasm/mujoco_wasm.js'
+
+/** @typedef {import('mujoco_wasm').MainModule} Mujoco */
+/** @typedef {import('mujoco_wasm').MjSpec} Spec */
+
+/** @type {() => Promise<Mujoco>} */
+export const loadMujoco = () => load_mujoco()
+
+/** @type {(mj: Mujoco) => (xml: String) => () => Spec} */
+export const parseXMLString = m => xml => () => m.parseXMLString(xml)

test/Mujoco.Wasm.purs

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+module Mujoco.Wasm where
+
+import Prelude
+
+import Control.Promise (Promise)
+import Control.Promise as Promise
+import Effect (Effect)
+import Effect.Aff (Aff)
+import Effect.Class (liftEffect)
+import Mujoco.XML.Node as XML
+
+foreign import data Mujoco :: Type
+foreign import data Spec :: Type
+
+foreign import loadMujoco :: Effect (Promise Mujoco)
+foreign import parseXMLString :: Mujoco -> String -> Effect Spec
+
+renderSpec :: XML.Node -> Aff Spec
+renderSpec node = do
+  mj <- Promise.toAffE loadMujoco
+  liftEffect $ parseXMLString mj $ XML.render node